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*
* Software License Agreement (BSD License)
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*  Author: Joel Cartwright
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*********************************************************************/

#ifndef _NAVSIM_H_
#define _NAVSIM_H_

// ================================================================== includes

// ModuleCore include should be above ROS and OceanSHELL includes.
#include <osl_core/ModuleCore.h>
#include <osl_core/GlobalCoordConverter.h>
#include <osl_core/LocalCoordConverter.h>
#include <osl_core/TimerMillis.h>

//#include <boost/random.hpp>
//#include <boost/random/normal_distribution.hpp>

#include <boost/foreach.hpp>

#include <osl_core/RandomNormal.h>
#include <matchmaker/client.h>

#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/WrenchStamped.h>
#include <sensor_msgs/Range.h>
#include <auv_msgs/NavSts.h>


// ========================================================== external defines
//typedef boost::normal_distribution<double> dist_type; 
// ===================================================================== class
class NavSim : public osl_core::ModuleCore
{
private:
	bool init(int argc, char * argv[]);

	void doWork();

	void cleanup();

	void updatePositionFromVelocity(double elapsedTime);
	void setVelocityFromForce(double x, double y, double z, double roll, double pitch, double yaw);

	void updateSoaStatus();

	void processROSVehicleForceReq(const geometry_msgs::WrenchStampedConstPtr & msg);
	void processUWSimAltitude(const sensor_msgs::RangeConstPtr & msg);
	void sendROSNavSts();
	void sendROSOdometry();

	ros::Publisher rosNavStsPub_;
	matchmaker::ServiceAdvertiser rosNavStsAd_;

	ros::Publisher rosOdometryPub_;
	matchmaker::ServiceAdvertiser rosOdometryAd_;

	ros::Subscriber rosVehicleForceReqSub_;
	ros::Subscriber rosUWSimAltitudeSub_;

	ros::Time lastROSForceTime_;
	//bool lastROSForceTimeValid_;

	auv_msgs::NavSts rosNavStsMsg_;
	nav_msgs::Odometry rosOdometryMsg_;

	std::string tfMapFrame_;
	std::string tfOdomFrame_;
	std::string tfBaseLinkFrame_;
	std::string tfGPSFrame_;
	std::string tfLBLFrame_;


	osl_core::TimerMillis diagTimer_;
	int diagPeriod_;

	osl_core::TimerMillis noInputTimer_;
	int noInputTimeout_;

	bool velocityValid_;

	double forceMsgDeltaTimeLimit_;

	osl_core::T_LLD globalOrigin_;
	osl_core::T_LLD globalPosition_;
	osl_core::T_NED worldPosition_;
	osl_core::T_RPY worldOrientation_;
	osl_core::T_VCS bodyPositionVelocity_;
	osl_core::T_RPY bodyOrientationVelocity_;
	float altitude_;
	float waterColumnDepth_;

	//Current simulation
	bool enableCurrentSim_;
	float periodWaves_;
	float currentDirection_;
	float maxVelocity_;
	float buoyantVelocity_;
	float totalTimeElapsed_;
	float noiseScale_;

	bool usingUWSimAltitude_;

	osl_core::GlobalCoordConverter worldToGlobal_;
	osl_core::LocalCoordConverter bodyToWorld_;

	double xForceToVelocity_;
	double yForceToVelocity_;
	double zForceToVelocity_;
	double rollForceToVelocity_;
	double pitchForceToVelocity_;
	double yawForceToVelocity_;

	bool useROSInput_;

	float maxWallTimeSendFreq_;
	long minWallTimeSendPeriod_;
	osl_core::TimerMillis wallTimeSendTimer_;
};

#endif
